Detection method and system for marine metal detection

Abstract

The invention relates to a detection method and system for marine metal detection, and relates to the field of metal detection technologies, and the method comprises the steps: obtaining a region needing to be detected and a device parking position; performing metal detection at the device stopping position to obtain a local detection condition; obtaining the current ocean current direction after the local detection condition is determined, determining a single detection area according to the device parking position and the detection radius, and determining a to-be-detected area according to the to-be-detected area and the single detection area; determining a downstream driving path according to the current ocean current direction and the parking position of the device, and generating a detection point on the downstream driving path according to the to-be-detected area; and controlling the unmanned ship to move along the detection point and continuously updating the parking position of the device until the to-be-detected area is empty, and outputting a detection completion signal. The method has the advantage that the unmanned ship can conduct intelligent detection work on marine metal conveniently.

Description

Technical Field

[0001] The present application relates to the field of metal detection technology, and in particular to a detection method and system for marine metal detection. Background Art

[0002] Marine metal detection technology is an important part of marine resource exploration, involving the discovery and evaluation of deep-sea polymetallic nodules, cobalt-rich crusts, polymetallic sulfides and other resources. Currently, marine metal detection mainly relies on the following technologies: sonar detection technology, magnetometer detection technology, electromagnetic detection technology, multi-sensor data fusion technology, deep learning and image processing technology, etc.

[0003] In related technologies, when using sonar to detect marine metal, the detection area is generally delineated first, then the corresponding detection path is set according to the detection area, and the detection points are determined according to the detection path. Finally, the unmanned boat carrying the sonar equipment is controlled to move along the detection path to each detection point for metal detection.

[0004] In the above-mentioned related technologies, during metal detection, a detection path will be delineated and then the movement of the unmanned boat will be controlled. However, due to the changeable ocean currents, the unmanned boat may always be moving in the opposite direction when moving on the detection path. At this time, the movement of the unmanned boat consumes a lot of electricity, and the unmanned boat may run out of power before the detection area is fully detected, which makes it inconvenient for the unmanned boat to intelligently detect marine metals. There is still room for improvement. Summary of the invention

[0005] In order to facilitate unmanned ships to perform intelligent detection operations on marine metals, the present application provides a detection method and system for marine metal detection.

[0006] In a first aspect, the present application provides a detection method for marine metal detection, which adopts the following technical solution: A detection method for marine metal detection, comprising: Obtain the required detection area and the device docking location; Controlling a preset sonar device to operate for a preset fixed time at the device docking position, receiving reflected wave information within the fixed time, and determining a local detection situation based on the reflected wave information; After the local detection situation is determined, the current ocean current direction is obtained, and the single detection area is determined according to the device docking position and the preset detection radius, and the waiting detection area is determined according to the required detection area and the single detection area; Determine the downstream travel path according to the current ocean current direction and the device docking position, and generate detection points on the downstream travel path according to the waiting detection area; The unmanned boat is controlled to move along the detection point, and when the unmanned boat reaches the detection point, the detection point is updated to the device docking position, and the detection operation is performed according to the device docking position and the waiting detection area is updated until the waiting detection area is empty and a detection completion signal is output.

[0007] Optionally, the step of generating a detection point on the downstream driving path according to the waiting detection area includes: Determine whether part of the downstream driving path is within the waiting detection area; If there is no part of the downstream driving path in the waiting detection area, a direction completion signal is output; If part of the downstream driving path is within the waiting detection area, the downstream driving path within the waiting detection area is defined as an internal driving path; A single detection area is laid out with a point on the inner driving path as the center of the circle, and a laying combination is generated according to the single detection area when the inner driving path is completely covered by the single detection area; Counting is performed in each laying combination according to the detection area of ​​each unit to determine the number of detections; The detection times with the smallest value are determined according to the preset sorting rules, and the center of the single detection area in the paving combination corresponding to the detection times is defined as the candidate point, and the candidate point closest to the current device docking position is determined as the detection point.

[0008] Optionally, after the number of detections is determined, the detection method for marine metal detection also includes: Determine whether there are at least two laying combinations with the same and minimum detection times; If there are not at least two laying combinations with the same and minimum detection times, the candidate point is determined according to the laying combination corresponding to the minimum detection times; If there are at least two laying combinations with the same and minimum detection times, the laying combination corresponding to the minimum detection times is defined as the candidate combination, and the area in the required detection area except the waiting detection area is defined as the detection completion area; Analyze the detection area of ​​each monomer in the candidate combination and the detection completion area to determine the detection overlap area, and determine the overlap area according to the detection overlap area; The overlapping area with the smallest value is determined according to the sorting rule, and the candidate points are defined according to the candidate combination corresponding to the overlapping area.

[0009] Optionally, after the overlapping area is determined, the detection method for marine metal detection also includes: Determine whether there are at least two candidate combinations with the same and smallest overlapping areas; If there are not at least two candidate combinations with the same and smallest overlapping area, determine the candidate point according to the candidate combination corresponding to the smallest overlapping area; If there are at least two candidate combinations with the same and smallest overlapping area, the candidate combination corresponding to the smallest overlapping area is defined as the candidate combination, and the fuzzy detection area is determined according to each local detection situation; Determine the intersecting secondary detection area according to the detection overlap area and the fuzzy detection area, determine the secondary detection area according to the secondary detection area, and perform sum calculation according to all the secondary detection areas to determine the overall multiple areas; The overall multiple areas with the largest values ​​are determined according to the sorting rules, and the candidate points are determined according to the candidate combinations corresponding to the overall multiple areas.

[0010] Optionally, after the overall multiple areas are determined, the detection method for marine metal detection also includes: Determine whether there are at least two candidate combinations with the same overall multiple areas and the largest; If there are not at least two candidate combinations with the same overall multiple areas and the largest, then the candidate point is determined according to the candidate combination corresponding to the largest overall multiple area; If there are at least two candidate combinations with the same overall multiple areas and the largest, the single detection area closest to the current device docking position in each candidate combination is defined as the standard detection area; The new detection area and the secondary detection area are divided according to the standard detection area, and the required moving distance is determined according to the center of the standard detection area and the current device docking position; Calculate and determine the area selection parameters based on the newly added detection area, the secondary detection area, the required moving distance and the preset calculation parameters; The region selection parameter with the largest value is determined according to the sorting rule, and the candidate point is determined according to the candidate combination corresponding to the region selection parameter.

[0011] Optionally, after the detection point is determined, the detection method for marine metal detection also includes: Determine the downstream movement distance based on the detection point and the current device docking position; Determine whether the downstream movement distance is greater than the preset long-distance movement distance; If the downstream moving distance is not greater than the distant moving distance, the unmanned boat is controlled to move according to the detection point; If the downstream moving distance is greater than the far moving distance, the moving difficulty coefficient corresponding to the downstream moving distance is determined according to the preset first difficulty matching relationship; Generate a random simulated moving direction, and determine the direction angle according to the simulated moving direction and the current ocean current direction; Determine the feasible moving distance corresponding to the moving difficulty coefficient and the direction angle according to the preset distance matching relationship, and define the feasible moving path according to the feasible moving distance, the simulated moving direction and the current device docking position; Determine a detection point on a feasible moving path, and determine a simulated moving distance based on the detection point and the current device stop position; Determine the simulation difficulty coefficient corresponding to the simulated moving distance and the direction angle according to the preset second difficulty matching relationship; The simulation difficulty coefficient with the smallest value is determined according to the sorting rules, and the unmanned boat is controlled to move according to the detection points corresponding to the simulation difficulty coefficient.

[0012] Optionally, after the signal output is completed in the direction, the detection method for marine metal detection also includes: On a preset time axis, a historical interval with the current time point as the rear end point and a width of a preset historical duration is established, and within the historical interval, a nearby interval with the current time point as the rear end point and a width of a preset nearby duration is established; A virtual time point is randomly generated in the historical interval, and an equivalent interval similar to the nearby interval is established based on the virtual time point; Obtain the original ocean current change sequence and the duration of each original direction in the nearest interval, and obtain the comparative ocean current change sequence and the duration of each comparative direction in each equivalent interval; The similarity of changes is determined by calculation based on the original ocean current change sequence, the comparative ocean current change sequence, the duration of the original direction, and the duration of the comparative direction; The change similarity with the largest value is determined according to the sorting rules, and the predicted ocean current direction is determined according to the equivalent interval corresponding to the change similarity, and the current ocean current direction is updated according to the predicted ocean current direction.

[0013] In a second aspect, the present application provides a detection system for marine metal detection, which adopts the following technical solution: A detection system for marine metal detection, comprising: An acquisition module is used to acquire the required detection area and the device docking position; A processing module, connected to the acquisition module, for storing and processing information; The processing module controls the preset sonar device to operate for a preset fixed time at the device docking position, receives reflected wave information within the fixed time, and determines the local detection situation according to the reflected wave information; The acquisition module acquires the current ocean current direction after the local detection situation is determined, and enables the processing module to determine the single detection area according to the device docking position and the preset detection radius, and determines the waiting detection area according to the required detection area and the single detection area; The processing module determines the downstream travel path according to the current ocean current direction and the device docking position, and generates detection points on the downstream travel path according to the waiting detection area; The processing module controls the unmanned boat to move along the detection point, and updates the detection point to the device docking position when the unmanned boat arrives at the detection point, performs detection operations according to the device docking position and updates the waiting detection area, and outputs a detection completion signal when the waiting detection area is empty.

[0014] In summary, the present application includes at least one of the following beneficial technical effects: When conducting marine metal detection, the area that needs to be detected and the conditions of the ocean currents can be comprehensively analyzed to control the unmanned ship to move downstream as much as possible, thereby reducing the power consumption of the unmanned ship during the movement, and facilitating the unmanned ship to perform intelligent detection operations for marine metals; the overlapping of regional detection and the secondary detection of each abnormal area can be comprehensively analyzed to determine the more appropriate detection points. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of the detection method used for marine metal detection.

[0016] Figure 2 It is a modular flow chart of the detection method used for marine metal detection. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of this application more clear, the following Figure 1-Figure 2 It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0018] The embodiments of the present application are further described in detail below in conjunction with the drawings in the specification.

[0019] The present application embodiment discloses a detection method for marine metal detection, referring to Figure 1 The method flow of the detection method for marine metal detection includes the following steps: Step S100: Obtain the required detection area and the device docking position.

[0020] The required detection area is the area where metal detection is required. The ship where the unmanned boat is deployed can be used as the coordinate origin to manually input the required detection area by the staff; the device docking position is the position where the unmanned boat docks for metal detection operations, and the first device docking position is the position where the unmanned boat is deployed.

[0021] Step S101: Controlling a preset sonar device to operate for a preset fixed time at a device docking position, receiving reflected wave information within the fixed time, and determining a local detection situation according to the reflected wave information.

[0022] The sonar device is a device installed on an unmanned ship that can perform sonar detection operations. The fixed duration is the fixed duration set by the staff for metal detection in the marine environment below the unmanned ship. The reflected wave information is the signal wave received after the information wave emitted by the sonar device is emitted by metal or seabed. The local detection situation reflects the situation of the metal below the docking position of the device. Determining the local detection situation through the transmitted wave information is a conventional means of sonar detection technology and will not be elaborated here.

[0023] Step S102: After the local detection situation is determined, the current ocean current direction is obtained, and the single detection area is determined according to the device docking position and the preset detection radius, and the waiting detection area is determined according to the required detection area and the single detection area.

[0024] The current ocean current direction, that is, the direction of ocean water flow at the location of the unmanned ship, can be obtained by installing corresponding sensors on the unmanned ship; the detection radius is the area radius of metal that can be detected by the sonar device, and the single detection area is the area of ​​the ocean bottom conditions that can be detected by the unmanned ship at the docking position of the device, that is, the circular area with the docking position of the device as the center and the detection radius as the radius; the waiting detection area is the area in the required detection area that has not yet been detected.

[0025] Step S103: Determine the downstream travel path according to the current ocean current direction and the device docking position, and generate detection points on the downstream travel path according to the waiting detection area.

[0026] The downstream driving path is a path extending along the current ocean current direction with the device docking position as the starting point. The detection point is the position point on the downstream driving path where a better detection of the waiting detection area can be performed. A position point on the downstream driving path can be randomly selected as the detection point, or it can be determined by the method of steps S200-step S203.

[0027] Step S104: Control the unmanned boat to move along the detection point, and when the unmanned boat reaches the detection point, update the detection point to the device docking position, and perform detection operations according to the device docking position and update the waiting detection area until the waiting detection area is empty and output a detection completion signal.

[0028] By controlling the unmanned boat to move along the detection point, the unmanned boat can move downstream. At this time, the total energy consumed is less, so that the unmanned boat can perform intelligent detection operations on marine metals. By continuously updating the docking position of the device, the area waiting to be detected can be continuously updated, so that all areas can be effectively detected and processed.

[0029] The steps of generating detection points according to the waiting detection area on the downstream driving path include: Step S200: Determine whether part of the downstream driving path is within the waiting detection area.

[0030] The purpose of the judgment is to find out whether there are any locations that need to be detected on the downstream travel path, that is, whether regional detection can be achieved by downstream movement.

[0031] Step S2001: If there is no part of the downstream driving path in the waiting detection area, a direction completion signal is output.

[0032] When there is no part of the downstream driving path in the waiting detection area, it means that the detection in this direction has been completed. At this time, it is meaningless to move downstream. Therefore, the direction completion signal is output to mark the situation for subsequent analysis and processing.

[0033] Step S2002: If part of the downstream driving path is within the waiting detection area, the downstream driving path within the waiting detection area is defined as an internal driving path.

[0034] When part of the downstream driving path is in the waiting detection area, it means that there are still location points that can be detected in this direction. At this time, the internal driving path is defined to distinguish the paths where the detectable location points are located, which is convenient for subsequent analysis and control.

[0035] Step S201: laying out a single detection area with a point on the internal driving path as the center of the circle, and generating a laying combination according to the single detection area when the internal driving path is completely covered by the single detection area.

[0036] The coverage of the detection path can be analyzed by laying out a single detection area. When the internal driving path is completely covered by a single detection area, it means that the currently laid single detection area can complete the complete detection of the detection area in that direction. At this time, all single detection areas can generate laying combinations to determine the combinations that can complete the detection in that direction, which is convenient for subsequent analysis.

[0037] Step S202: Counting is performed according to the single detection area in each laying combination to determine the number of detections.

[0038] The number of detections refers to the number of individual detection areas required in the laying combination, that is, the total number of times the unmanned ship needs to dock for sonar detection when implementing the laying combination in that direction.

[0039] Step S203: Determine the detection number with the smallest value according to the preset sorting rules, define the center of the single detection area in the laying combination corresponding to the detection number as the candidate point, and determine the candidate point closest to the current device docking position as the detection point.

[0040] The sorting rule is a method set by the staff to sort the size of values, such as the bubble method. The sorting rule can be used to determine the number of detections with the smallest value, that is, the number of detections required at this time is the least and the overall operating efficiency is the fastest. At this time, the alternative points are determined according to the laying combination corresponding to the number of detections to achieve the distinction between different points, so that the nearest alternative point is selected as the detection point so that the unmanned boat can move and operate normally, so that the overall operating efficiency of the unmanned boat is the highest when moving in this direction.

[0041] After the number of detections is determined, the detection methods used for marine metal detection also include: Step S300: Determine whether there are at least two laying combinations with the same and minimum detection times.

[0042] The purpose of the judgment is to find out whether there are multiple laying combinations that meet the requirements, so as to facilitate the determination of alternative points.

[0043] Step S3001: If there are not at least two laying combinations with the same and minimum detection times, then determine the candidate points according to the laying combination corresponding to the minimum detection times.

[0044] When there are not at least two laying combinations with the same and minimum detection times, it means that there is only one laying combination that meets the requirements, and the candidate point determination can be carried out normally.

[0045] Step S3002: If there are at least two laying combinations with the same and minimum detection times, the laying combination corresponding to the minimum detection times is defined as an alternative combination, and the area in the required detection area except the waiting detection area is defined as a detection completion area.

[0046] When there are at least two paving combinations with the same and minimum number of detection times, it means that there are multiple paving combinations that meet the requirements. At this time, they are defined as alternative combinations to distinguish different paving combinations for subsequent analysis; the detection completion area is defined to distinguish different areas for subsequent analysis.

[0047] Step S301: Analyze each monomer detection region and the detection completion region in the candidate combination to determine the detection overlap region, and determine the overlap region area according to the detection overlap region.

[0048] The detection overlap region is a region that will overlap with the already detected region when performing detection processing using each monomer detection region in the candidate combination, and the area of ​​the overlap region is the area of ​​the determined detection overlap region.

[0049] Step S302: determining the overlapping region area with the smallest value according to the sorting rule, and defining candidate points according to the candidate combination corresponding to the overlapping region area.

[0050] The sorting rules can be used to determine the area of ​​the overlapping region with the smallest value. That is, when the number of detections is the same, the alternative combination has the smallest area of ​​repeated operations in the area that has been detected, and the overall detection effect is the best. Therefore, the alternative point can be determined based on the alternative combination.

[0051] After the overlapping area is determined, the detection methods used for marine metal detection also include: Step S400: Determine whether there are at least two candidate combinations with the same and smallest overlapping areas.

[0052] The purpose of judgment is to find out whether there are multiple alternative combinations that meet the requirements.

[0053] Step S4001: If there are not at least two candidate combinations with the same and smallest overlapping area, determine the candidate point according to the candidate combination corresponding to the smallest overlapping area.

[0054] When there are not at least two candidate combinations with the same and smallest overlapping areas, it means that there is only one candidate combination that meets the requirements, and the candidate point determination can be carried out normally.

[0055] Step S4002: If there are at least two candidate combinations with the same and smallest overlapping area, the candidate combination corresponding to the smallest overlapping area is defined as the candidate combination, and the fuzzy detection area is determined according to each local detection situation.

[0056] When there are at least two alternative combinations with the same and smallest overlapping areas, it means that there are multiple alternative combinations that meet the requirements. At this time, they are defined as candidate combinations to distinguish different alternative combinations for subsequent analysis. The fuzzy detection area is an area detected during metal detection by sonar where there are certain objections and the overall result is fuzzy, requiring multiple tests. This area can be obtained through the local detection conditions that have been obtained.

[0057] Step S401: determining the intersecting secondary detection regions according to the detection overlap region and the fuzzy detection region, determining the secondary detection area according to the secondary detection region, and performing sum calculation according to all the secondary detection areas to determine the overall multiple areas.

[0058] The secondary detection area is the fuzzy detection area in the detection overlap area, that is, the fuzzy detection area that can be detected again. The secondary detection area is the area of ​​the secondary detection area, and the overall multiple area is the sum of all secondary detection areas.

[0059] Step S402: determining the overall multiple areas with the largest values ​​according to the sorting rules, and determining candidate points according to the candidate combinations corresponding to the overall multiple areas.

[0060] The overall multiple areas with the largest values ​​can be determined through the sorting rules, that is, the fuzzy detection areas that can be used for secondary detection are the largest, that is, the overall detection effect is the best. At this time, the corresponding candidate points can be determined according to the candidate combination.

[0061] After the overall area is determined, the detection methods used for marine metal detection also include: Step S500: Determine whether there are at least two candidate combinations with the same overall multiple areas and the largest area.

[0062] The purpose of the judgment is to find out whether there are multiple candidate combinations that meet the requirements.

[0063] Step S5001: If there are not at least two candidate combinations with the same overall multiple areas and the largest, then determine the candidate points according to the candidate combination corresponding to the largest overall multiple areas.

[0064] When there are not at least two candidate combinations with the same overall multiple areas and the largest, it means that there is only one candidate combination that meets the requirements. At this time, the candidate points can be determined based on the candidate combination.

[0065] Step S5002: If there are at least two candidate combinations with the same overall multiple areas and the largest, then the single detection area closest to the current device docking position in each candidate combination is defined as the standard detection area.

[0066] When there are at least two candidate combinations with the same overall multiple areas and the largest, it means that there are multiple candidate combinations that meet the requirements and need further analysis; standard detection areas are defined to distinguish different monomer detection areas for subsequent analysis.

[0067] Step S501: dividing the new detection area and the secondary detection area according to the standard detection area, and determining the required moving distance according to the center of the standard detection area and the current device docking position.

[0068] The newly added detection area is the area in the standard detection area that is within the waiting detection area. The required moving distance is the distance the unmanned boat needs to move to the center of the standard detection area.

[0069] Step S502: performing calculations according to the newly added detection area, the secondary detection area, the required moving distance and preset calculation parameters to determine the area selection parameters.

[0070] The region selection parameter is a parameter that reflects whether the selected region is suitable. The larger the parameter is, the more suitable the selected region is. The calculation formula of the region selection parameter is: ,in Select parameters for the region, is the area value of the newly added detection area, is the area value of the secondary detection area, The required moving distance, , as well as These are all calculation parameters of each parameter, and the calculation parameters are preset fixed value parameters.

[0071] Step S503: determining the region selection parameter with the largest value according to the sorting rule, and determining the candidate point according to the candidate combination corresponding to the region selection parameter.

[0072] The region selection parameter with the largest value can be determined through the sorting rules, that is, the corresponding candidate combination has the best effect at this time, and the candidate point can be determined based on the candidate combination.

[0073] After the detection point is determined, the detection methods used for marine metal detection also include: Step S600: Determine the downstream movement distance according to the detection point and the current device docking position.

[0074] The downstream moving distance is the distance the unmanned boat needs to move from the current device docking position to the determined detection point, that is, the distance between the detection point and the current device docking position.

[0075] Step S601: Determine whether the downstream moving distance is greater than the preset long-distance moving distance.

[0076] The long-distance moving distance is the minimum downstream moving distance set by the staff to determine that the distance required to be moved is too far to meet the requirements of saving electricity and at the same time reduce the detection efficiency. The purpose of the judgment is to know whether the currently determined detection point is convenient for the unmanned boat to move.

[0077] Step S6011: If the downstream moving distance is not greater than the far moving distance, the movement of the unmanned boat is controlled according to the detection point.

[0078] When the downstream moving distance is not greater than the far moving distance, it means that the determined detection point is convenient for the unmanned boat to move. At this time, the movement of the unmanned boat can be controlled normally.

[0079] Step S6012: If the downstream moving distance is greater than the long-distance moving distance, the moving difficulty coefficient corresponding to the downstream moving distance is determined according to a preset first difficulty matching relationship.

[0080] When the downstream moving distance is greater than the far moving distance, it means that the currently determined detection point cannot meet the requirements, and further analysis is needed at this time; the moving difficulty coefficient reflects the difficulty value corresponding to the downstream moving distance of the unmanned boat. The larger the difficulty value, the worse the effect that can be achieved when using this detection point for detection. The larger the downstream moving distance, the larger the corresponding moving difficulty coefficient. The first difficulty matching relationship between the two is determined by the staff through experiments in advance.

[0081] Step S602: Generate a random simulated moving direction, and determine the direction angle according to the simulated moving direction and the current ocean current direction.

[0082] The simulated moving direction is not the same as the current ocean current direction, and the direction angle is the angle formed by the simulated moving direction and the current ocean current direction.

[0083] Step S603: Determine the feasible moving distance corresponding to the moving difficulty coefficient and the direction angle according to the preset distance matching relationship, and define the feasible moving path according to the feasible moving distance, the simulated moving direction and the current device docking position.

[0084] The feasible moving distance is the maximum distance that the unmanned boat can move against the direction of the water flow at a direction angle to reach the moving difficulty coefficient. The distance matching relationship between the three is determined in advance by the staff; the feasible moving path is the path that the unmanned boat can travel along the simulated moving direction.

[0085] Step S604: Determine a detection point on the feasible moving path, and determine a simulated moving distance according to the detection point and the current device stop position.

[0086] The simulated moving distance is the distance that the unmanned boat needs to move from the current device docking position to the detection point when moving along the feasible moving path.

[0087] Step S605: Determine the simulation difficulty coefficient corresponding to the simulated moving distance and the direction angle according to the preset second difficulty matching relationship.

[0088] The simulation difficulty coefficient is the difficulty that the unmanned boat will reach when moving a simulated moving distance in a direction that is at an angle to the water flow. This difficulty coefficient is similar to the movement difficulty coefficient, and both are intended to reflect the movement effect. Different simulated moving distances and different direction angles correspond to different simulation difficulty coefficients. The second difficulty matching relationship between the two is determined in advance by the staff through multiple tests.

[0089] Step S606: Determine the simulation difficulty coefficient with the smallest value according to the sorting rule, and control the unmanned boat to move according to the detection point corresponding to the simulation difficulty coefficient.

[0090] The simulation difficulty coefficient with the smallest value can be determined through the sorting rules, that is, the corresponding detection point at this time is most convenient for the unmanned boat to move. At this time, the unmanned boat is controlled to move according to the detection point so that the unmanned boat movement detection effect is better.

[0091] After the signal output is completed in the direction, the detection method for marine metal detection also includes: Step S700: establishing a historical interval with the current time point as the rear end point and a width of the preset historical duration on the preset time axis, and establishing a nearby interval with the current time point as the rear end point and a width of the preset nearby duration in the historical interval.

[0092] The time axis is a coordinate axis formed by the combination of various time points. The historical duration is a fixed duration set by the staff for detecting the historical conditions of the ocean, such as 1 year. Establishing a historical interval can facilitate the acquisition of data within the historical duration; the nearby duration is the duration set by the staff for acquiring data in a short period of time, such as 12 hours. Establishing a nearby interval is convenient for acquiring and analyzing data within the nearby duration.

[0093] Step S701: randomly generate a virtual time point in the historical interval, and establish an equivalent interval similar to the nearby interval according to the virtual time point.

[0094] An equivalent interval is an interval with a virtual time point as its rear end point and the same width as the nearest interval.

[0095] Step S702: Obtain the original ocean current change sequence and the duration of each original direction in the nearest interval, and obtain the comparative ocean current change sequence and the duration of each comparative direction in each equivalent interval.

[0096] The order of changes in the original ocean currents is the order of changes in the directions of the ocean currents in the nearest interval, and the duration of the original directions is the duration of each ocean current direction. Similarly, the order of changes in the comparative ocean currents is the order of changes in the directions of the ocean currents in the same interval, and the duration of the comparative directions is the duration of each ocean current direction.

[0097] Step S703: Calculate the change similarity based on the original ocean current change sequence, the comparison ocean current change sequence, the original direction duration, and the comparison direction duration.

[0098] The change similarity is a numerical value reflecting the similarity of the change of the ocean current direction in two time intervals, wherein the first parameter value is determined by comparing the original ocean current change sequence with the comparison ocean current change sequence one by one, wherein the first parameter value can be determined by the number of corresponding times in the original ocean current change sequence and the comparison ocean current change sequence, for example, there are four ocean current directions in the sequence, of which there are two corresponding directions from front to back, then the first parameter value is determined according to the two directions, if there are three corresponding directions, then the first parameter value is determined according to the three directions, and the method for determining the first parameter value is set by the staff according to the actual situation; then the second parameter value can be obtained by comparing the duration of the original direction and the duration of the comparison direction one by one, and the second parameter value is much smaller than the first parameter value. The second parameter value can be obtained by performing a difference calculation on the duration corresponding to the corresponding direction in the direction change sequence, and the smaller the difference, the larger the parameter value that can be obtained, and the matching relationship between the two can be entered in advance by the staff, and then the parameter values ​​obtained in all corresponding directions are added to obtain the second parameter value.

[0099] Step S704: Determine the change similarity with the largest value according to the sorting rule, determine the predicted ocean current direction according to the equivalent interval corresponding to the change similarity, and update the current ocean current direction according to the predicted ocean current direction.

[0100] The sorting rules can be used to determine the change similarity with the largest value, that is, the change direction of the ocean current in the equivalent interval is most similar to the change direction of the ocean current in the current nearby interval. At this time, the ocean current direction at the next moment of the equivalent interval can be used to predict the ocean current direction at the next moment of the current time point, that is, predict the ocean current direction. At this time, the unmanned ship can be mobile controlled and analyzed according to the predicted ocean current direction to achieve effective movement of the unmanned ship; similarly, when the predicted ocean current direction also outputs a direction completion signal, the corresponding equivalent interval will be excluded to determine the equivalent interval corresponding to the change similarity with the largest value, until the effective movement of the unmanned ship can be achieved.

[0101] Reference Figure 2 Based on the same inventive concept, an embodiment of the present invention provides a detection system for marine metal detection, comprising: An acquisition module is used to acquire the required detection area and the device docking position; A processing module, connected to the acquisition module, for storing and processing information; The processing module controls the preset sonar device to operate for a preset fixed time at the device docking position, receives reflected wave information within the fixed time, and determines the local detection situation according to the reflected wave information; The acquisition module acquires the current ocean current direction after the local detection situation is determined, and enables the processing module to determine the single detection area according to the device docking position and the preset detection radius, and determines the waiting detection area according to the required detection area and the single detection area; The processing module determines the downstream travel path according to the current ocean current direction and the device docking position, and generates detection points on the downstream travel path according to the waiting detection area; The processing module controls the unmanned ship to move along the detection point, and when the unmanned ship reaches the detection point, updates the detection point to the device docking position, performs detection operations according to the device docking position and updates the waiting detection area, and outputs a detection completion signal when the waiting detection area is empty; A detection point generation module is used to determine the more appropriate detection points on the downstream driving path; A laying combination screening module is used to screen multiple laying combinations that meet the requirements; An alternative combination screening module is used to screen multiple alternative combinations that meet the requirements; A candidate combination screening module is used to screen multiple candidate combinations that meet the requirements; A moving direction adjustment module is used to adjust the moving direction of the unmanned ship; The ocean current direction prediction module is used to predict the possible changing direction of the ocean current, thereby facilitating the movement control of the unmanned ship.

[0102] Those skilled in the art can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

Claims

1. A detection method for marine metal detection, characterized in that: include: Obtain the required detection area and the device docking location; Controlling a preset sonar device to operate for a preset fixed time at the device docking position, receiving reflected wave information within the fixed time, and determining a local detection situation based on the reflected wave information; After the local detection situation is determined, the current ocean current direction is obtained, and the single detection area is determined according to the device docking position and the preset detection radius, and the waiting detection area is determined according to the required detection area and the single detection area; Determine the downstream travel path according to the current ocean current direction and the device docking position, and generate detection points on the downstream travel path according to the waiting detection area; The unmanned boat is controlled to move along the detection point, and when the unmanned boat reaches the detection point, the detection point is updated to the device docking position, and the detection operation is performed according to the device docking position and the waiting detection area is updated until the waiting detection area is empty and a detection completion signal is output.

2. The detection method for marine metal detection according to claim 1, characterized in that: The steps of generating detection points according to the waiting detection area on the downstream driving path include: Determine whether part of the downstream driving path is within the waiting detection area; If there is no part of the downstream driving path in the waiting detection area, a direction completion signal is output; If part of the downstream driving path is within the waiting detection area, the downstream driving path within the waiting detection area is defined as an internal driving path; A single detection area is laid out with a point on the inner driving path as the center of the circle, and a laying combination is generated according to the single detection area when the inner driving path is completely covered by the single detection area; Counting is performed in each laying combination according to the detection area of ​​each unit to determine the number of detections; The detection times with the smallest value are determined according to the preset sorting rules, and the center of the single detection area in the paving combination corresponding to the detection times is defined as the candidate point, and the candidate point closest to the current device docking position is determined as the detection point.

3. The detection method for marine metal detection according to claim 2, characterized in that: After the number of detections is determined, the detection methods used for marine metal detection also include: Determine whether there are at least two laying combinations with the same and minimum detection times; If there are not at least two laying combinations with the same and minimum detection times, the candidate point is determined according to the laying combination corresponding to the minimum detection times; If there are at least two laying combinations with the same and minimum detection times, the laying combination corresponding to the minimum detection times is defined as the candidate combination, and the area in the required detection area except the waiting detection area is defined as the detection completion area; Analyze the detection area of ​​each monomer in the candidate combination and the detection completion area to determine the detection overlap area, and determine the overlap area according to the detection overlap area; The overlapping area with the smallest value is determined according to the sorting rule, and the candidate points are defined according to the candidate combination corresponding to the overlapping area.

4. The detection method for marine metal detection according to claim 3, characterized in that: After the overlapping area is determined, the detection methods used for marine metal detection also include: Determine whether there are at least two candidate combinations with the same and smallest overlapping areas; If there are not at least two candidate combinations with the same and smallest overlapping area, determine the candidate point according to the candidate combination corresponding to the smallest overlapping area; If there are at least two candidate combinations with the same and smallest overlapping area, the candidate combination corresponding to the smallest overlapping area is defined as the candidate combination, and the fuzzy detection area is determined according to each local detection situation; Determine the intersecting secondary detection area according to the detection overlap area and the fuzzy detection area, determine the secondary detection area according to the secondary detection area, and perform sum calculation according to all the secondary detection areas to determine the overall multiple areas; The overall multiple areas with the largest values ​​are determined according to the sorting rules, and the candidate points are determined according to the candidate combinations corresponding to the overall multiple areas.

5. The detection method for marine metal detection according to claim 4, characterized in that: At After the overall multiple areas are determined, the detection methods used for marine metal detection also include: Determine whether there are at least two candidate combinations with the same overall multiple areas and the largest; If there are not at least two candidate combinations with the same overall multiple areas and the largest, then the candidate point is determined according to the candidate combination corresponding to the largest overall multiple area; If there are at least two candidate combinations with the same overall multiple areas and the largest, the single detection area closest to the current device docking position in each candidate combination is defined as the standard detection area; The new detection area and the secondary detection area are divided according to the standard detection area, and the required moving distance is determined according to the center of the standard detection area and the current device docking position; Calculate and determine the area selection parameters based on the newly added detection area, the secondary detection area, the required moving distance and the preset calculation parameters; The region selection parameter with the largest value is determined according to the sorting rule, and the candidate point is determined according to the candidate combination corresponding to the region selection parameter.

6. The detection method for marine metal detection according to claim 2, characterized in that: After the detection point is determined, the detection methods used for marine metal detection also include: Determine the downstream movement distance based on the detection point and the current device docking position; Determine whether the downstream movement distance is greater than the preset long-distance movement distance; If the downstream moving distance is not greater than the distant moving distance, the unmanned boat is controlled to move according to the detection point; If the downstream moving distance is greater than the far moving distance, the moving difficulty coefficient corresponding to the downstream moving distance is determined according to the preset first difficulty matching relationship; Generate a random simulated moving direction, and determine the direction angle according to the simulated moving direction and the current ocean current direction; Determine the feasible moving distance corresponding to the moving difficulty coefficient and the direction angle according to the preset distance matching relationship, and define the feasible moving path according to the feasible moving distance, the simulated moving direction and the current device docking position; Determine a detection point on a feasible moving path, and determine a simulated moving distance based on the detection point and the current device stop position; Determine the simulation difficulty coefficient corresponding to the simulated moving distance and the direction angle according to the preset second difficulty matching relationship; The simulation difficulty coefficient with the smallest value is determined according to the sorting rules, and the unmanned boat is controlled to move according to the detection points corresponding to the simulation difficulty coefficient.

7. The detection method for marine metal detection according to claim 2, characterized in that: After the signal output is completed in the direction, the detection method for marine metal detection also includes: On a preset time axis, a historical interval with the current time point as the rear end point and a width of a preset historical duration is established, and within the historical interval, a nearby interval with the current time point as the rear end point and a width of a preset nearby duration is established; A virtual time point is randomly generated in the historical interval, and an equivalent interval similar to the nearby interval is established based on the virtual time point; Obtain the original ocean current change sequence and the duration of each original direction in the nearest interval, and obtain the comparative ocean current change sequence and the duration of each comparative direction in each equivalent interval; The similarity of changes is determined by calculation based on the original ocean current change sequence, the comparative ocean current change sequence, the duration of the original direction, and the duration of the comparative direction; The change similarity with the largest value is determined according to the sorting rules, and the predicted ocean current direction is determined according to the equivalent interval corresponding to the change similarity, and the current ocean current direction is updated according to the predicted ocean current direction.

8. A detection system for marine metal detection, characterized in that: include: An acquisition module is used to acquire the required detection area and the device docking position; A processing module, connected to the acquisition module, for storing and processing information; The processing module controls the preset sonar device to operate for a preset fixed time at the device docking position, receives reflected wave information within the fixed time, and determines the local detection situation according to the reflected wave information; The acquisition module acquires the current ocean current direction after the local detection situation is determined, and enables the processing module to determine the single detection area according to the device docking position and the preset detection radius, and determines the waiting detection area according to the required detection area and the single detection area; The processing module determines the downstream travel path according to the current ocean current direction and the device docking position, and generates detection points on the downstream travel path according to the waiting detection area; The processing module controls the unmanned boat to move along the detection point, and updates the detection point to the device docking position when the unmanned boat arrives at the detection point, performs detection operations according to the device docking position and updates the waiting detection area, and outputs a detection completion signal when the waiting detection area is empty.

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